/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "KinematicBody.hpp"

#include <rw/kinematics/MovableFrame.hpp>

using namespace rw::math;
using namespace rw::kinematics;

using namespace rwsim::dynamics;

KinematicBody::KinematicBody (const BodyInfo& info, rw::models::Object::Ptr obj) :
    Body (info, obj), _base (NULL)

{
    _base = dynamic_cast< MovableFrame* > (obj->getBase ());
    if (_base == NULL) {
        RW_THROW ("Base frame of Object in a KinematicBody must be a MovableFrame!");
    }
    // std::cout << "Adding state in kinematicbody!!!!" << std::endl;
    add (_kstate);
}

KinematicBody::~KinematicBody ()
{}

void KinematicBody::reset (rw::kinematics::State& state)
{
    // set variables in state to 0
    KinematicBodyState& ks = _kstate.get (state);
    ks.linvel              = Vector3D<> (0, 0, 0);
    ks.angvel              = Vector3D<> (0, 0, 0);
}

rw::math::VelocityScrew6D<> KinematicBody::getVelocity (const rw::kinematics::State& state) const
{
    const KinematicBodyState& ks = _kstate.get (state);
    return rw::math::VelocityScrew6D<> (
        ks.linvel[0], ks.linvel[1], ks.linvel[2], ks.angvel[0], ks.angvel[1], ks.angvel[2]);
}
